KR100478681B1 - an robot-cleaner equipped with floor-disinfecting function - Google Patents

an robot-cleaner equipped with floor-disinfecting function Download PDF

Info

Publication number
KR100478681B1
KR100478681B1 KR10-2003-0052449A KR20030052449A KR100478681B1 KR 100478681 B1 KR100478681 B1 KR 100478681B1 KR 20030052449 A KR20030052449 A KR 20030052449A KR 100478681 B1 KR100478681 B1 KR 100478681B1
Authority
KR
South Korea
Prior art keywords
robot cleaner
driving
unit
main body
sterilization
Prior art date
Application number
KR10-2003-0052449A
Other languages
Korean (ko)
Other versions
KR20050013866A (en
Inventor
박지수
이주상
고장연
조영익
송정곤
Original Assignee
삼성광주전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 삼성광주전자 주식회사 filed Critical 삼성광주전자 주식회사
Priority to KR10-2003-0052449A priority Critical patent/KR100478681B1/en
Priority to JP2004046391A priority patent/JP2005046592A/en
Priority to US10/822,652 priority patent/US7251853B2/en
Priority to CNB2004100353743A priority patent/CN1291691C/en
Priority to NL1026023A priority patent/NL1026023C2/en
Priority to AU2004201756A priority patent/AU2004201756A1/en
Priority to GB0409424A priority patent/GB2404330B/en
Priority to DE102004021115A priority patent/DE102004021115A1/en
Priority to RU2004116815/12A priority patent/RU2272557C2/en
Priority to FR0407979A priority patent/FR2858203A1/en
Priority to SE0401937A priority patent/SE527034C2/en
Publication of KR20050013866A publication Critical patent/KR20050013866A/en
Application granted granted Critical
Publication of KR100478681B1 publication Critical patent/KR100478681B1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A47L7/0061—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids adapted for disinfecting or sterilising
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
    • A61L2/08—Radiation
    • A61L2/10—Ultra-violet radiation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Abstract

일정공간을 주행하고 바닥면을 청소하면서 바닥살균을 하는 로봇청소기가 개시된다. 개시된 본 발명에 따른 로봇청소기는 로봇청소기 본체; 본체의 하부에 설치된 복수의 바퀴를 구동하는 구동부; 주행방향에 수직한 상방의 이미지를 촬상하는 상방카메라; 주행방향의 전방에 위치한 장애물을 감지하는 장애물 검출센서; 기억장치; 바닥의 먼지를 흡입할 수 있도록 상기 로봇청소기 본체에 설치된 흡진부; 상기 로봇청소기 본체의 하부에 설치되어 바닥면을 살균하는 살균부; 및 지정된 주행패턴에 따라 상기 로봇청소기가 이동하도록 상기 구동부를 제어하며, 상기 흡진부 및 상기 살균부를 제어하는 제어부;를 포함한다. 이에 의하면 자동으로 바닥면을 청소하거나 살균작용을 하게되어 위생적인 청소와 더물어 건강과 쾌적한 주거환경에 도움이 된다. The robot cleaner which sterilizes the floor while driving a certain space and cleaning the floor is disclosed. Robot cleaner according to the present invention disclosed is a robot cleaner body; A driving unit for driving a plurality of wheels installed in the lower portion of the main body; An upward camera for picking up an image perpendicular to the traveling direction; An obstacle detecting sensor detecting an obstacle located in front of the driving direction; Memory; A suction part installed in the robot cleaner main body to suck dust of a floor; A sterilizer installed at a lower portion of the robot cleaner body to sterilize a bottom surface; And a control unit controlling the driving unit to move the robot cleaner according to a specified driving pattern, and controlling the dust collecting unit and the sterilizing unit. According to this, it automatically cleans or sterilizes the floor, which is helpful for health and pleasant living environment, in addition to hygienic cleaning.

Description

바닥살균기능을 구비한 로봇청소기{an robot-cleaner equipped with floor-disinfecting function}An robot-cleaner equipped with floor-disinfecting function}

본 발명은 바닥살균기능을 구비한 로봇청소기에 관한 것으로서, 보다 상세하게는 자동으로 바닥면 청소 및 살균작업을 동시에 또는 선택적으로 할 수 있는 로봇청소기에 관한 것이다. The present invention relates to a robot cleaner having a floor sterilization function, and more particularly, to a robot cleaner capable of automatically or selectively cleaning and sterilizing a floor surface.

일반적으로, 로봇 청소기는 사용자가 조작하지 않아도 청소하고자 하는 구역을 스스로 주행하면서 바닥면으로부터 먼지 등의 이물질을 흡입함으로써, 청소하고자 하는 구역을 자동으로 청소하는 기기이다.In general, a robot cleaner is a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the floor while driving the area to be cleaned by a user without a user's manipulation.

이러한 로봇 청소기는 센서를 통해 청소구역에 설치된 기구나 사무용품, 벽 등의 장애물까지의 거리를 판별하고, 그 장애물과의 충돌이나 방해를 방지하기 위해 로봇청소기의 한쌍의 모터를 선택적으로 구동시킴으로써, 스스로 방향을 전환해가면서 청소구역을 청소한다.The robot cleaner determines the distance to an obstacle such as an apparatus, office equipment, wall, etc. installed in the cleaning area through a sensor, and selectively drives a pair of motors of the robot cleaner to prevent collision or interference with the obstacle. Clean the cleaning area as you change direction.

도 1을 참조하면, 로봇청소기는 청소기본체(1)와, 본체의 전방하부의 양측에 설치된 두 개의 종동바퀴(2)와, 후방하부의 양측에 설치된 두 개의 구동바퀴(3), 후방의 두 개의 구동바퀴(3)를 각각 회전 구동시키는 한 쌍의 모터(5) 및 후방 구동바퀴(3)의 동력을 전방의 종동바퀴(2)로 전달할 수 있도록 설치된 타이밍벨트(7)를 포함한다.Referring to Fig. 1, the robot cleaner includes a cleaning main body 1, two driven wheels 2 installed on both sides of the front lower part of the main body, two driving wheels 3 installed on both sides of the rear lower part, and two rear of the robot cleaner. It includes a pair of motors (5) for driving the two driving wheels (3), respectively, and a timing belt (7) installed to transmit the power of the rear driving wheel (3) to the front driven wheel (2).

또한, 청소기본체(1)의 선단부에는 청소면으로부터 먼지 등의 이물질을 흡입해내기 위한 흡입포트(9)가 설치된다. 이 흡입포트(9)는 소정 구동모터(미도시)에 의해 구동된다.In addition, a suction port 9 is provided at the tip of the cleaning body 1 to suck in foreign matter such as dust from the cleaning surface. The suction port 9 is driven by a predetermined drive motor (not shown).

이와 같은 구성을 가지는 로봇청소기는 한쌍의 모터(5)를 선택적으로 구동시킴으로써, 스스로 방향을 전환해가면서 움직이게 되며, 이때 상기 흡입포트(9)를 작동시켜 주행하면서 피청소면의 이물질을 청소하게 된다. The robot cleaner having the configuration as described above selectively moves by moving a pair of motors 5, and moves itself while changing the direction. At this time, the suction port 9 is operated to clean foreign substances on the surface to be cleaned.

이러한 종래의 로봇청소기는 단순히 주행하면서 바닥면의 먼지나 오물등을 흡입포트(9)를 통해서 흡입하여 정화한 뒤 배출하는데 그치므로, 바닥면에는 세균이나 기타 병원균이 잔존할 가능성이 높다. Such a conventional robot cleaner simply sucks, purifies and discharges dust or dirt on the bottom through the suction port 9 while driving, and thus, bacteria or other pathogens are likely to remain on the bottom.

그리고 주거환경중 아직도 온돌구조로 된 방에서는 사용자가 바닥면에 이불을 깔고 취침하는 경우가 많으며, 바닥면을 살균하고자 할때에는 사용자가 고온의 물에서 삶은 물걸레등으로 일일이 다시 청소해야하는 번거로움이 있다. And in the living room still in the ondol structure, the user puts the bed on the floor and often goes to bed, and when you want to sterilize the floor, the user has to clean again with a mop boiled in hot water. .

본 발명은 상기와 같은 문제점을 해결하기 위하여 창안된 것으로서, 일정공간을 자동주행하면서, 바닥면 청소 및 살균작업을 동시에 또는 선택적으로 할 수 있는 로봇청소기를 제공하는데 그 목적이 있다. The present invention was devised to solve the above problems, and an object thereof is to provide a robot cleaner which can simultaneously or selectively perform floor cleaning and sterilization while automatically driving a predetermined space.

상기 목적을 달성하기 위한 본 발명에 의한 바닥살균기능을 구비한 로봇청소기는, 피청소면을 자동 주행하는 로봇청소기 본체; 상기 로봇청소기 본체의 하부에 설치된 복수의 바퀴를 구동하는 구동부; 상기 본체의 전방에 설치되며, 주행방향의 전방에 위치한 장애물을 감지하는 장애물 검출센서; 상기 장애물 검출센서가 감지한 장애물의 위치정보를 저장하는 기억장치; 바닥의 먼지를 흡입할 수 있도록 상기 로봇청소기 본체에 설치된 흡진부; 상기 로봇청소기 본체의 하부에 설치되어 바닥면을 살균하는 살균부; 및 지정된 주행패턴에 따라 상기 로봇청소기가 이동하도록 상기 구동부를 제어하며, 상기 흡진부 및 상기 살균부를 제어하는 제어부;를 포함한다. Robot cleaner with a bottom sterilization function according to the present invention for achieving the above object, the robot cleaner body for automatically running the surface to be cleaned; A driving unit for driving a plurality of wheels installed under the robot cleaner main body; An obstacle detection sensor installed at the front of the main body and detecting an obstacle located in the front of the driving direction; A memory device for storing location information of the obstacle detected by the obstacle detection sensor; A suction part installed in the robot cleaner main body to suck dust of a floor; A sterilizer installed at a lower portion of the robot cleaner body to sterilize a bottom surface; And a control unit controlling the driving unit to move the robot cleaner according to a specified driving pattern, and controlling the dust collecting unit and the sterilizing unit.

그리고 상기 살균부는 상기 흡진부와 동시에 작동하거나, 상기 흡진부와 선택적으로 작동될 수 있다. In addition, the sterilization unit may be operated simultaneously with the suction unit, or may be selectively operated with the suction unit.

또한, 상기 살균부는 살균등; 상기 살균등이 수납가능하게 로봇청소기의 저면에 형성된 살균등 수납실; 및 상기 수납실과 탈착가능하게 결합하며 상기 살균등이 바닥면을 조사할 수 있도록 하는 투명창;을 포함하는 것이 바람직하다. In addition, the sterilization unit sterilization lamp; A sterilizing lamp accommodating chamber formed on the bottom of the robot cleaner to accommodate the sterilizing lamp; And a transparent window detachably coupled to the storage compartment and allowing the sterilization lamp to irradiate the bottom surface.

이와 동시에 , 상기 살균부는 상기 로봇청소기 본체 저면의 전방일측에 설치될 수 있으며, 상기 로봇청소기 본체 저면의 구동부와 흡진부 사이에 설치될 수도 있다. At the same time, the sterilization unit may be installed at one front side of the bottom surface of the robot cleaner main body, and may be installed between the driving unit and the suction unit of the bottom surface of the robot cleaner main body.

그리고 상기 살균부는 상기 로봇청소기 본체 저면의 후방일측에 설치될 수 있으며, 상기 로봇청소기 본체 저면의 좌우측에 설치될 수도 있다. The sterilizing unit may be installed at one rear side of the bottom surface of the robot cleaner main body, and may be installed at left and right sides of the bottom surface of the robot cleaner main body.

한편, 바람직하게는 상기 구동부는, 상기 로봇청소기의 본체에 설치되어 각각 공급된 전원에 의해 구동되는 한 쌍의 구동모터; 상기 한 쌍의 구동모터에 의해 회전되는 한 쌍의 구동바퀴; 상기 한 쌍의 구동바퀴를 추종하는 한 쌍의 종동바퀴; 및 상기 구동바퀴와 상기 종동바퀴를 연동시키는 동력전달수단;을 포함하는 것이 좋다. On the other hand, preferably, the drive unit, a pair of drive motors installed in the main body of the robot cleaner and driven by the power supplied respectively; A pair of drive wheels rotated by the pair of drive motors; A pair of driven wheels following the pair of drive wheels; And a power transmission means for interlocking the driving wheel and the driven wheel.

그리고 상기 동력전달수단은 타이밍 벨트인 것이 좋다. The power transmission means is preferably a timing belt.

이하, 첨부된 도면을 참조하여 본 발명의 바람직한 실시예에 따른 로봇청소기를 보다 상세하게 설명한다.Hereinafter, with reference to the accompanying drawings will be described in more detail a robot cleaner according to a preferred embodiment of the present invention.

도 2는 본 발명에 따른 바닥살균기능을 구비한 로봇청소기의 내부구조를 나타낸 사시도이다. 도 3은 본 발명에 따른 로봇청소기의 내부제어를 나타내 보인 블럭도이다. 다만, 참조부호 I는 로봇청소기의 전방을 나타낸다. Figure 2 is a perspective view showing the internal structure of the robot cleaner with a bottom sterilization function according to the present invention. 3 is a block diagram showing the internal control of the robot cleaner according to the present invention. However, reference numeral I denotes the front of the robot cleaner.

도 2 내지 도 3을 참조하면, 로봇청소기는 크게 본체(12), 흡진부(16), 구동부(20), 상방 카메라(30), 전방 카메라(32), 장애물검출센서(34), 제어부(40), 살균부(11), 기억장치(41), 및 송/수신부(43)를 포함한다. 2 to 3, the robot cleaner largely includes the main body 12, the suction unit 16, the driving unit 20, the upper camera 30, the front camera 32, the obstacle detecting sensor 34, and the control unit ( 40), a sterilizing unit 11, a storage device 41, and a transmitting / receiving unit 43.

상기 흡진부(16)는 공기를 흡입하면서 대향되는 바닥의 먼지를 집진할 수 있도록 본체(12) 상에 설치되어 있다. 이러한 흡진부(16)는 알려진 다양한 방식에 의해 구성될 수 있다. 일예로서, 흡진부(16)는 흡입모터(미도시)와, 흡입모터의 구동에 의해 바닥과 대향되게 형성된 흡입구 또는 흡입관을 통해 흡입된 먼지를 집진하는 집진실을 구비한다. The suction part 16 is provided on the main body 12 so as to collect dust on the floor facing the air while inhaling air. Such a suction unit 16 can be configured by a variety of known methods. As an example, the suction unit 16 includes a suction motor (not shown) and a dust collecting chamber for collecting dust sucked through a suction port or a suction pipe formed to face the floor by driving the suction motor.

상기 구동부(20)는 전방의 양측에 설치된 두 개의 종동바퀴(21)와, 후방의 양측에 설치된 두 개의 구동바퀴(22), 후방의 두 개의 바퀴(22)를 각각 회전 구동시키는 한 쌍의 구동모터(24) 및 후방 바퀴(22)의 동력을 전방의 바퀴(21)로 전달할 수 있도록 설치된 동력전달수단(25)을 포함한다. 상기 동력전달수단(25)는 타이밍벨트로 구성되며, 또한 기어풀리구조로 형성될 수도 있다. The drive unit 20 is a pair of driving to drive the two driven wheels 21 provided on both sides of the front, two drive wheels 22, two wheels 22 provided on both sides of the rear, respectively. It includes a power transmission means 25 is installed to transmit the power of the motor 24 and the rear wheel 22 to the front wheel 21. The power transmission means 25 is composed of a timing belt and may also be formed in a gear pulley structure.

또한, 상기 구동부(20)는 상기 제어부(40)의 제어신호에 따라 각 모터(24)를 독립적으로 정방향 또는 역방향으로 회전 구동시킨다. 주행방향은 각 모터(24)의 회전수를 다르게 제어함으로써 정해진다.In addition, the driving unit 20 independently drives each of the motors 24 in the forward or reverse directions according to the control signal of the control unit 40. The running direction is determined by controlling the rotation speed of each motor 24 differently.

상기 전방 카메라(32)는 전방의 이미지를 촬상할 수 있도록 본체(12)상에 설치되어 촬상된 이미지를 제어부(40)로 출력한다.The front camera 32 is installed on the main body 12 so that the front image can be captured and outputs the captured image to the controller 40.

상기 상방 카메라(30)는 상방의 이미지를 촬상할 수 있도록 본체(12)상에 설치되어 촬상된 이미지를 제어부(40)로 출력한다. 바람직하게는 상방 카메라(30)에는 어안렌즈(미도시)가 적용된다.The upper camera 30 is installed on the main body 12 so as to capture the image of the upper side and outputs the captured image to the control unit 40. Preferably, a fisheye lens (not shown) is applied to the upper camera 30.

상기 어안렌즈 구조는 국내 공개특허1996-7005245호, 국내공개특허 1997-48669호, 국내공개특허 1994-22112호 등에 개시되어 있고, 여러 렌즈 제조회사에서 시판하고 있어 이에 대한 상세한 설명은 생략한다.The fisheye lens structure is disclosed in Korean Patent Publication No. 1996-7005245, Korean Patent Publication No. 1997-48669, Korean Patent Publication No. 1994-22112, etc., and is marketed by various lens manufacturers, and detailed description thereof will be omitted.

상기 장애물 검출 센서(34)는 외부로 신호를 송출하고, 반사된 신호를 수신할 수 있도록 몸체의 측면 둘레에 소정 간격으로 배치되어 있다. The obstacle detection sensor 34 is disposed at predetermined intervals around the side of the body to transmit a signal to the outside and receive the reflected signal.

또 다르게는 장애물 검출센서(34)는 초음파를 출사하고, 반사된 초음파을 수신할 수 있도록 된 초음파 센서가 적용될 수 있다. 장애물 검출센서(34)는 장애물 또는 벽과의 거리를 측정하는데도 이용된다.Alternatively, the obstacle detection sensor 34 may apply an ultrasonic sensor that emits ultrasonic waves and receives the reflected ultrasonic waves. The obstacle detecting sensor 34 is also used to measure the distance from the obstacle or the wall.

그리고 상기 제어부(40)에 연결된 주행거리 검출센서(미도시)는 구동바퀴(22) 또는 종동바퀴(21)의 회전수를 검출하는 회전검출 센서가 적용될 수 있다. 예컨대, 회전 검출센서는 모터(24)의 회전수를 각각 검출하도록 설치된 엔코더가 적용될 수 있다In addition, a rotation detection sensor for detecting the rotation speed of the driving wheel 22 or the driven wheel 21 may be applied to the traveling distance detection sensor (not shown) connected to the control unit 40. For example, the rotation detection sensor may be applied to the encoder installed to detect the number of rotation of the motor 24, respectively.

도 4a,4b,4c,4d는 본 발명에 따른 바닥살균기능을 구비한 로봇청소기의 실시예들을 나타낸 도면으로, 도 4a 내지 도 4d를 참조하여 살균부(11)를 설명하면 다음과 같다. Figures 4a, 4b, 4c, 4d is a view showing embodiments of a robot cleaner with a bottom sterilization function according to the present invention, the sterilization unit 11 with reference to Figures 4a to 4d as follows.

상기 살균부(11)는 살균등(55), 수납실(57) 및 투명창(59)을 포함한다. The sterilization unit 11 includes a sterilization lamp 55, a storage chamber 57, and a transparent window 59.

상기 살균등(55)은 일반적으로 시중에서 시판되고 있는 자외선 살균등으로 피청소 바닥면의 각종 세균을 살균하며 상기 살균등(55)의 구조에 대한 자세한 설명은 생략한다.The germicidal lamp 55 is a commercially available ultraviolet germicidal lamp for sterilizing various bacteria on the bottom surface to be cleaned and a detailed description of the structure of the germicidal light 55 will be omitted.

상기 수납실(57)은 상기 살균등(55)이 수납되는 공간으로 상기 로봇청소기(10)의 저면에 형성되며 직사각형의 홈형태로 구성될 수 있으며, 상기 살균등(55)의 형상에 대응하여 타원형의 홈 형태로 구성될 수도 있다. The storage chamber 57 is a space in which the sterilizing lamp 55 is accommodated and is formed on the bottom surface of the robot cleaner 10 and may have a rectangular groove shape, corresponding to the shape of the sterilizing lamp 55. It may be configured in the shape of an elliptical groove.

상기 투명창(59)은 상기 수납실(57)과 탈착가능하게 결합하며, 상기 살균등(55)이 바닥면을 조사할 수 있도록 하며, 바닥면의 돌기나 이물질로 부터 상기 살균등(55)을 보호하는 역활을 한다. The transparent window 59 is detachably coupled to the storage chamber 57, the sterilizing lamp 55 to irradiate the bottom surface, and the sterilizing lamp 55 from the projections or foreign matter of the bottom surface Serves to protect the

그리고 상기 살균부(11)는 상기 로봇청소기 본체(12) 저면의 전방일측에 설치될 수 있으며(도 4a), 또한 상기 로봇청소기 본체(12) 저면의 구동부(20)와 흡진부(16)사이에 설치될 수도 있다(도 4b). 그리고 상기 살균부(11)는 상기 로봇청소기 본체(12) 저면의 후방일측에 설치될 수도 있고(도 4c), 상기 로봇청소기 본체(12) 저면의 좌우측에 설치될 수도 있다(도 4d). 또한, 상기 살균부(11)의 설치위치는 당업자의 입장에서 바닥면에 살균등(55)을 조사하여 살균할 수 있다면 다양하게 구성할 수 있다. 그리고 상기 살균부(11)는 상기 흡진부(16)와 동시에 작동하거나, 상기 흡진부(16)와 선택적으로 작동될 수 있다. In addition, the sterilization unit 11 may be installed at one front side of the bottom of the robot cleaner main body 12 (FIG. 4A), and also between the driving unit 20 and the suction unit 16 of the bottom of the robot cleaner main body 12. It may also be installed in (Fig. 4b). In addition, the sterilization unit 11 may be installed at one rear side of the bottom of the robot cleaner main body 12 (FIG. 4C), or may be installed at the left and right sides of the bottom of the robot cleaner main body 12 (FIG. 4D). In addition, the installation position of the sterilization unit 11 can be configured in various ways if it can be sterilized by irradiating the sterilization lamp 55 on the floor from the viewpoint of those skilled in the art. In addition, the sterilization unit 11 may operate simultaneously with the exhaust unit 16 or may be selectively operated with the exhaust unit 16.

상기 기억장치(41)는 상방 카메라(30)가 촬상한 상방 이미지를 저장한 후 제어부(40)가 위치정보나 주행정보를 산출할 수 있도록 보조한다(도3참조).The storage device 41 stores the upper image captured by the upper camera 30 and assists the control unit 40 to calculate the positional information or the driving information (see FIG. 3).

송/수신부(43)는 송신대상 데이터를 상기 제어부(40)에 설치된 송수신장치(미도시)를 통해 외부장치(80)로 송출하고, 송수신장치(미도시)를 통해 수신된 외부장치(80)의 신호를 제어부(40)로 전송한다. 상기 외부장치(80)는 일반적으로 데이터를 입출력할 수 있는 무선중계기(미도시)나 원격제어기(미도시)가 된다. 상기 외부장치(80)는 바람직하게는 리모콘장치로 구성되는 것이 좋다. The transmitter / receiver 43 transmits the data to be transmitted to the external device 80 through a transceiver (not shown) installed in the controller 40 and receives the external device 80 through the transceiver (not shown). Transmits a signal to the control unit 40. The external device 80 is generally a wireless repeater (not shown) or a remote controller (not shown) capable of inputting and outputting data. The external device 80 is preferably composed of a remote control device.

상기 제어부(40)는 송/수신부(43)를 통해 수신된 신호를 처리하고, 각 요소를 제어한다. 본체(12)상에 기기의 기능 설정을 조작하기 위한 다수의 키가 마련된 키입력장치(미도시)가 더 구비된 경우 제어부(40)는 키입력장치로부터 입력된 키신호를 처리한다. The controller 40 processes signals received through the transmitter / receiver 43 and controls each element. When a key input device (not shown) provided with a plurality of keys for manipulating the function setting of the device is further provided on the main body 12, the controller 40 processes the key signal input from the key input device.

상기와 같은 구성을 갖는 바닥 살균기능을 구비한 로봇청소기의 동작을 설명하면 다음과같다.Referring to the operation of the robot cleaner having a floor sterilization function as described above is as follows.

먼저, 제어부(40)는 주행패턴에 따라 작업영역을 주행하도록 구동부(20)를 제어하여 상방 카메라(30)에 의해 촬상된 이미지로부터 상방 영역에 대한 영상지도를 생성하여 기억장치(41)에 저장한다. 또 다르게는 키입력장치 또는 외부로부터 무선으로 작업지시가 수신되면, 작업수행 전에 영상지도 작성을 수행하도록 설정될 수 있다.First, the control unit 40 controls the driving unit 20 to travel the work area according to the driving pattern to generate an image map of the upper area from the image captured by the upper camera 30 and store it in the storage device 41. do. Alternatively, when the work order is received wirelessly from the key input device or the outside, it may be set to perform image mapping before the work is performed.

그리고 상기 제어부(40)는 영상지도 작성 이후에는, 작업 수행시 작성된 영상지도를 이용하여 위치를 인식한다. 즉, 제어부(40)는 키입력장치 또는 외부로부터 무선으로 작업요청신호가 입력되면, 기억된 영상지도와 상방 카메라(30) 또는 상방 카메라(30) 및 전방카메라(32)로부터 입력된 현재의 이미지를 비교하면서 로봇청소기(10)의 현 위치를 인식하고, 인식된 위치로부터 목적하는 주행 경로에 대응되게 구동부(20)를 제어한다. 여기서 작업요청신호는 청소작업 또는 카메라(30)(32)를 통한 감시작업등을 포함한다. After the preparation of the image map, the controller 40 recognizes the location using the image map created when the work is performed. That is, when the work request signal is wirelessly input from the key input device or the outside, the controller 40 stores the stored image map and the current image input from the upper camera 30 or the upper camera 30 and the front camera 32. Recognizing the current position of the robot cleaner 10 while comparing the, and controls the drive unit 20 to correspond to the target travel path from the recognized position. Here, the work request signal includes a cleaning operation or a monitoring operation through the cameras 30 and 32.

목적하는 주행경로를 따라 이동시에는 엔코더로부터 측정된 주행거리와 현재 촬상된 이미지와 기억된 영상지도와의 비교에 의해 인식된 현 위치를 이용하여 주행오차를 산출하고, 오차를 보상하여 목적하는 주행경로를 추적하도록 구동부(15)를 제어한다.When traveling along the target driving route, the driving error is calculated using the current position recognized by comparing the mileage measured from the encoder with the currently captured image and the stored image map, and the error is compensated for. Control the drive unit 15 to track.

그리고 상기 로봇청소기(10)가 주행하는 동안 제어부(40)에서는 작업신호에 따라 상기 흡진부(16) 및 상기 살균부(11)를 동시에 또는 선택적으로 작동시키게 된다. While the robot cleaner 10 is running, the control unit 40 simultaneously or selectively operates the dust collecting unit 16 and the sterilizing unit 11 according to a work signal.

따라서, 상기 로봇청소기 본체(12)내에 구비된 전원공급부(미도시)를 통해서 전원이 공급되어 상기 살균부(11)의 살균등(55)이 작동하게 되고, 상기 흡입모터(미도시)와 흡입관을 통해 바닥의 먼지나 오물이 상기 로봇청소기 본체(12)로 흡입되며 정화된 공기가 배출된다. Accordingly, power is supplied through a power supply unit (not shown) provided in the robot cleaner body 12 to operate the sterilization lamp 55 of the sterilization unit 11, and the suction motor (not shown) and the suction tube. Dust or dirt on the floor is sucked into the robot cleaner main body 12 and the purified air is discharged.

이러한 결과로, 상기 로봇청소기가 일정공간을 주행하는 동안에 바닥청소와 동시에 바닥면을 살균하거나 또는 바닥청소와 살균작업을 선택적으로 할수 있다. As a result, while the robot cleaner travels in a certain space, it is possible to sterilize the floor at the same time as the floor cleaning or to selectively perform floor cleaning and sterilization.

그리고 사용자가 상기 구동부(20)의 작동을 정지시키는 신호를 외부장치(80)에 입력하게 되면 상기 로봇청소기(10)는 일정공간에 정지한 채로 바닥청소나 살균작용을 동시에 하거나 선택적으로 할 수 있게 된다. And when the user inputs a signal to stop the operation of the drive unit 20 to the external device 80, the robot cleaner 10 can be at the same time or selectively perform floor cleaning or sterilization while stopping in a certain space. do.

그리고 청소작업이나 살균작업이 완료된 경우, 사용자는 작업중지지시를 외부장치(80)를 통해서 입력하게 되면, 상기 로봇청소기(10)의 제어부(40)는 일련의 청소작업과 살균작업을 중지하고 상기 로봇청소기(10)를 초기위치로 복귀시킨다. And when the cleaning or sterilization work is completed, when the user inputs the indication during the operation through the external device 80, the control unit 40 of the robot cleaner 10 stops a series of cleaning and sterilization work and the Return the robot cleaner 10 to the initial position.

이상에서 설명한 바와 같이 살균기능을 구비한 로봇청소기는 일정공간을 주행하면서 바닥면 청소 및 살균작업을 동시에 또는 선택적으로 할 수 있게 된다. As described above, the robot cleaner having a sterilization function may simultaneously or selectively perform floor cleaning and sterilization while driving a predetermined space.

상기에서 설명한 바와 같이, 본 발명에 따른 로봇청소기는 자동으로 일정공간을 주행하면서 바닥면 청소 및 살균작업을 동시에 또는 선택적으로하게되어 위생적인 청소와 함께 건강과 쾌적한 주거환경에 도움이 된다. As described above, the robot cleaner according to the present invention can automatically or at the same time or selectively perform floor cleaning and sterilization while driving a certain space to help health and comfortable living environment with hygienic cleaning.

이상, 본 발명을 본 발명의 원리를 예시하기 위한 바람직한 실시예에 대하여 도시하고 설명하였으나, 본 발명은 그와 같이 도시되고 설명된 그대로의 구성 및 작용으로 한정되는 것은 아니다. 오히려, 청구된 특허청구범위의 사상 및 범주를 일탈함이 없이 본 발명에 대한 다수의 변경 및 수정이 가능함을 당업자들은 잘 이해할 수 있을 것이다. 따라서, 그러한 모든 적절한 변경 및 수정과 균등물들도 본 발명의 범주에 속하는 것으로 간주되어야 할 것이다.While the invention has been shown and described with respect to preferred embodiments for illustrating the principles of the invention, the invention is not limited to the construction and operation as shown and described. Rather, those skilled in the art will appreciate that many changes and modifications to the present invention are possible without departing from the spirit and scope of the claimed claims. Accordingly, all such suitable changes and modifications and equivalents should be considered to be within the scope of the present invention.

도 1는 종래의 로봇청소기의 바닥면의 구조를 나타낸 도면,1 is a view showing the structure of the bottom surface of a conventional robot cleaner,

도 2는 본 발명에 따른 바닥살균기능을 구비한 로봇청소기의 내부구조를 나타낸 사시도,Figure 2 is a perspective view showing the internal structure of the robot cleaner with a bottom sterilization function according to the present invention,

도 3은 본 발명에 따른 로봇청소기의 내부제어를 나타내 보인 블럭도, 3 is a block diagram showing the internal control of the robot vacuum cleaner according to the present invention;

도 4a,4b,4c,4d는 본 발명에 따른 바닥살균기능을 구비한 로봇청소기의 실시예들을 나타낸 도면이다. Figures 4a, 4b, 4c, 4d is a view showing embodiments of a robot cleaner having a bottom sterilization function according to the present invention.

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

10; 로봇청소기 12; 본체10; Robot cleaner 12; main body

20; 구동부 16; 흡진부20; A driver 16; Reducer

30; 상방 카메라 32; 전방 카메라30; Upper camera 32; Front camera

40; 제어부 43; 송/수신부40; A control unit 43; Transmitter / Receiver

11;살균부 55;살균등11; sterilization part 55; sterilization

57;살균등 수납실 59;투명창57; sterilization storage room 59; transparent window

Claims (9)

피청소면을 자동 주행하는 로봇청소기 본체; A robot cleaner main body that automatically runs the surface to be cleaned; 상기 로봇청소기 본체의 하부에 설치된 복수의 바퀴를 구동하는 구동부;A driving unit for driving a plurality of wheels installed under the robot cleaner main body; 상기 본체의 전방에 설치되며, 주행방향의 전방에 위치한 장애물을 감지하는 장애물 검출센서;An obstacle detection sensor installed at the front of the main body and detecting an obstacle located in the front of the driving direction; 상기 장애물 검출센서가 감지한 장애물의 위치정보를 저장하는 기억장치; A memory device for storing location information of the obstacle detected by the obstacle detection sensor; 바닥의 먼지를 흡입할 수 있도록 상기 로봇청소기 본체에 설치된 흡진부; A suction part installed in the robot cleaner main body to suck dust of a floor; 상기 로봇청소기 본체의 하부에 설치되어 바닥면을 살균하는 살균부; 및A sterilizer installed at a lower portion of the robot cleaner body to sterilize a bottom surface; And 지정된 주행패턴에 따라 상기 로봇청소기가 이동하도록 상기 구동부를 제어하며, 상기 흡진부 및 상기 살균부를 제어하는 제어부;를 포함하는 것을 특징으로 하는 로봇청소기.And a controller configured to control the driving unit to move the robot cleaner according to a designated driving pattern, and to control the suction unit and the sterilization unit. 제 1 항에 있어서, The method of claim 1, 상기 살균부는 상기 흡진부와 동시에 작동하거나, 상기 흡진부와 선택적으로 작동되는 것을 특징으로 하는 로봇청소기.The sterilizing unit is operated at the same time as the suction unit, or the robot cleaner, characterized in that selectively operating with the reducer. 제 1 항에 있어서, 상기 살균부는 The method of claim 1, wherein the sterilization unit 살균등;Germicidal lamps; 상기 살균등이 수납가능하게 로봇청소기의 저면에 형성된 살균등 수납실; 및A sterilizing lamp accommodating chamber formed on the bottom of the robot cleaner to accommodate the sterilizing lamp; And 상기 수납실과 탈착가능하게 결합하며 상기 살균등이 바닥면을 조사할 수 있도록 하는 투명창;을 포함하는 것을 특징으로 하는 로봇청소기.And a transparent window detachably coupled to the storage compartment and configured to irradiate the bottom surface of the sterilization lamp. 제 1 항에 있어서, 상기 살균부는 The method of claim 1, wherein the sterilization unit 상기 로봇청소기 본체 저면의 전방일측에 설치된 것을 특징으로 하는 로봇청소기.Robot cleaner, characterized in that installed on the front side of the bottom of the robot cleaner main body. 제 1 항에 있어서, 상기 살균부는 The method of claim 1, wherein the sterilization unit 상기 로봇청소기 본체 저면의 구동부와 흡진부 사이에 설치된 것을 특징으로 하는 로봇청소기.And a robot cleaner installed between a driving part and a suction part of the bottom surface of the robot cleaner main body. 제 1 항에 있어서, 상기 살균부는 The method of claim 1, wherein the sterilization unit 상기 로봇청소기 본체 저면의 후방일측에 설치된 것을 특징으로 하는 로봇청소기.Robot cleaner, characterized in that installed on one side of the rear surface of the robot cleaner main body. 제 1 항에 있어서, 상기 살균부는 The method of claim 1, wherein the sterilization unit 상기 로봇청소기 본체 저면의 좌우측에 설치된 것을 특징으로 하는 로봇청소기.Robot cleaners, characterized in that installed on the left and right sides of the bottom surface of the robot cleaner main body. 제 1 항에 있어서, 상기 구동부는,The method of claim 1, wherein the driving unit, 상기 로봇청소기의 본체에 설치되어 각각 공급된 전원에 의해 구동되는 한 쌍의 구동모터;A pair of driving motors installed in the main body of the robot cleaner and driven by the supplied power; 상기 한 쌍의 구동모터에 의해 회전되는 한 쌍의 구동바퀴;A pair of drive wheels rotated by the pair of drive motors; 상기 한 쌍의 구동바퀴를 추종하는 한 쌍의 종동바퀴; 및 A pair of driven wheels following the pair of drive wheels; And 상기 구동바퀴와 상기 종동바퀴를 연동시키는 동력전달수단;을 포함하는 것을 특징으로 하는 로봇청소기.And a power transmission means for interlocking the driving wheel and the driven wheel. 제 8 항에 있어서, The method of claim 8, 상기 동력전달수단은 타이밍 벨트인 것을 특징으로 하는 로봇청소기.And the power transmission means is a timing belt.
KR10-2003-0052449A 2003-07-29 2003-07-29 an robot-cleaner equipped with floor-disinfecting function KR100478681B1 (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
KR10-2003-0052449A KR100478681B1 (en) 2003-07-29 2003-07-29 an robot-cleaner equipped with floor-disinfecting function
JP2004046391A JP2005046592A (en) 2003-07-29 2004-02-23 Robot cleaner having floor-disinfecting function
US10/822,652 US7251853B2 (en) 2003-07-29 2004-04-13 Robot cleaner having floor-disinfecting function
CNB2004100353743A CN1291691C (en) 2003-07-29 2004-04-22 Robot cleaner having floor-disinfecting function
NL1026023A NL1026023C2 (en) 2003-07-29 2004-04-23 Robot cleaner with floor disinfecting function.
AU2004201756A AU2004201756A1 (en) 2003-07-29 2004-04-27 Robot cleaner having floor-disinfecting function
GB0409424A GB2404330B (en) 2003-07-29 2004-04-28 Robot cleaner having floor-disinfecting function
DE102004021115A DE102004021115A1 (en) 2003-07-29 2004-04-29 Cleaning robot with soil disinfection function
RU2004116815/12A RU2272557C2 (en) 2003-07-29 2004-06-02 Robot-cleaner with floor disinfection function
FR0407979A FR2858203A1 (en) 2003-07-29 2004-07-19 ROBOT CLEANER HAVING SOIL DISINFECTION FUNCTION
SE0401937A SE527034C2 (en) 2003-07-29 2004-07-28 Robot cleaner that has floor disinfecting function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR10-2003-0052449A KR100478681B1 (en) 2003-07-29 2003-07-29 an robot-cleaner equipped with floor-disinfecting function

Publications (2)

Publication Number Publication Date
KR20050013866A KR20050013866A (en) 2005-02-05
KR100478681B1 true KR100478681B1 (en) 2005-03-25

Family

ID=32464634

Family Applications (1)

Application Number Title Priority Date Filing Date
KR10-2003-0052449A KR100478681B1 (en) 2003-07-29 2003-07-29 an robot-cleaner equipped with floor-disinfecting function

Country Status (11)

Country Link
US (1) US7251853B2 (en)
JP (1) JP2005046592A (en)
KR (1) KR100478681B1 (en)
CN (1) CN1291691C (en)
AU (1) AU2004201756A1 (en)
DE (1) DE102004021115A1 (en)
FR (1) FR2858203A1 (en)
GB (1) GB2404330B (en)
NL (1) NL1026023C2 (en)
RU (1) RU2272557C2 (en)
SE (1) SE527034C2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100585040B1 (en) 2003-07-29 2006-06-01 삼성광주전자 주식회사 An robot cleaner having a negative-ion generator
KR100695172B1 (en) * 2006-03-09 2007-03-14 삼성전자주식회사 Robot cleaner providing microbe sensing function
KR20200048184A (en) * 2018-10-29 2020-05-08 이영화 Portable sterilization robot
KR20220115129A (en) * 2021-02-09 2022-08-17 한국과학기술연구원 Disinfection robot capable of autonomous driving and automatic recognition of disinfection targets

Families Citing this family (134)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US7663333B2 (en) 2001-06-12 2010-02-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
WO2005077244A1 (en) * 2004-02-04 2005-08-25 S. C. Johnson & Son, Inc. Surface treating device with cartridge-based cleaning system
JP2007530978A (en) 2004-03-29 2007-11-01 エヴォリューション ロボティクス インコーポレイテッド Position estimation method and apparatus using reflected light source
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
EP1841349A2 (en) 2004-11-23 2007-10-10 S.C. Johnson & Son, Inc. Device and methods of providing air purification in combination with cleaning of surfaces
KR20060059006A (en) * 2004-11-26 2006-06-01 삼성전자주식회사 Method and apparatus of self-propelled mobile unit with obstacle avoidance during wall-following
EP2145573B1 (en) 2005-02-18 2011-09-07 iRobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
KR100633444B1 (en) * 2005-02-24 2006-10-13 삼성광주전자 주식회사 Robot cleaner and method of control thereof
KR100654676B1 (en) * 2005-03-07 2006-12-08 삼성광주전자 주식회사 Mobile robot having body sensor
US20060216193A1 (en) * 2005-03-22 2006-09-28 Johnson Kaj A Cleaning tools with UV flash unit
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
KR100518620B1 (en) * 2005-05-12 2005-10-04 조영만 Sterilizer for bed clothes
CN100386181C (en) * 2005-06-16 2008-05-07 武汉大学 Detection robot
US7850931B2 (en) * 2005-08-11 2010-12-14 American Sterilizer Company Self-contained deactivation device
ES2623920T3 (en) 2005-12-02 2017-07-12 Irobot Corporation Robot system
KR101300492B1 (en) 2005-12-02 2013-09-02 아이로보트 코퍼레이션 Coverage robot mobility
ATE442618T1 (en) * 2005-12-02 2009-09-15 Irobot Corp COVER ROBOT MOBILITY
EP2816434A3 (en) 2005-12-02 2015-01-28 iRobot Corporation Autonomous coverage robot
KR101099808B1 (en) 2005-12-02 2011-12-27 아이로보트 코퍼레이션 Robot system
EP2270619B1 (en) 2005-12-02 2013-05-08 iRobot Corporation Modular robot
KR20070066673A (en) * 2005-12-22 2007-06-27 엘지전자 주식회사 Sterilizable robot cleaner using ultraviolet radiation
US8186004B2 (en) * 2006-02-22 2012-05-29 Oreck Holdings Llc Disinfecting device utilizing ultraviolet radiation
EP2548489B1 (en) 2006-05-19 2016-03-09 iRobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
DE102006040829B4 (en) * 2006-08-31 2012-03-15 Mykhaylo Koltun Vacuum cleaner and air cleaning robot system
US20080092324A1 (en) * 2006-10-18 2008-04-24 Guten Electronics Industrial Co., Ltd. Dust-collecting auxiliary device for vacuum cleaner
TWI308487B (en) * 2006-12-26 2009-04-11 Ind Tech Res Inst Position-detecting system and method
KR100871114B1 (en) * 2007-04-03 2008-11-28 엘지전자 주식회사 Moving robot and operating method for same
KR101339513B1 (en) 2007-05-09 2013-12-10 아이로보트 코퍼레이션 Autonomous coverage robot
DE102007041068A1 (en) * 2007-08-30 2009-03-05 BSH Bosch und Siemens Hausgeräte GmbH Movable device for performing work on preferably flat surfaces
KR101335516B1 (en) * 2007-11-27 2013-12-05 삼성전자주식회사 Nozzle assembly having a UV generating unit and Vacuum cleaner having the same
US8774970B2 (en) 2009-06-11 2014-07-08 S.C. Johnson & Son, Inc. Trainable multi-mode floor cleaning device
KR101186492B1 (en) 2009-11-04 2012-09-27 (주)제이디알 Heating apparatus of lapm for cleaner
US8575567B2 (en) 2009-12-08 2013-11-05 Surfacide, Llc Hard-surface disinfection system
CN105147193B (en) 2010-02-16 2018-06-12 艾罗伯特公司 Vacuum brush
JP5062310B2 (en) * 2010-08-26 2012-10-31 村田機械株式会社 Traveling car
KR101752190B1 (en) * 2010-11-24 2017-06-30 삼성전자주식회사 Robot cleaner and method for controlling the same
CN105769062A (en) 2010-12-30 2016-07-20 美国iRobot公司 Debris monitoring
CN107422723B (en) 2010-12-30 2021-08-24 美国iRobot公司 Overlay robot navigation
US8779391B2 (en) * 2011-03-03 2014-07-15 Teckni-Corp Sterilization system with ultraviolet emitter for eradicating biological contaminants
PL394570A1 (en) 2011-04-15 2012-10-22 Robotics Inventions Spólka Z Ograniczona Odpowiedzialnoscia Robot for raised floors and method for raised floor maintenance
US9093258B2 (en) 2011-06-08 2015-07-28 Xenex Disinfection Services, Llc Ultraviolet discharge lamp apparatuses having optical filters which attenuate visible light
US9165756B2 (en) 2011-06-08 2015-10-20 Xenex Disinfection Services, Llc Ultraviolet discharge lamp apparatuses with one or more reflectors
GB2494446B (en) * 2011-09-09 2013-12-18 Dyson Technology Ltd Autonomous cleaning appliance
WO2013071190A1 (en) * 2011-11-11 2013-05-16 Evolution Robotics, Inc. Scaling vector field slam to large environments
CN102525333B (en) * 2012-01-13 2013-09-04 燕山大学 Indoor automatic detecting and cleaning robot
WO2013116566A1 (en) 2012-01-31 2013-08-08 Surfacide, Llc Hard surface disinfection system and method
US8965623B2 (en) 2012-05-11 2015-02-24 International Business Machines Corporation Automated cleaning in a sensor network
KR102142162B1 (en) 2012-08-27 2020-09-14 에이비 엘렉트로룩스 Robot positioning system
JP2016500284A (en) 2012-12-06 2016-01-12 ゼネックス・ディスインフェクション・サービシィズ・エルエルシイ System for determining operating parameters and disinfection schedule of a sterilization device, and sterilization lamp apparatus including a lens system
CN103027030B (en) * 2013-01-10 2014-09-03 厦门大学 Intelligent laser mosquito killing robot
CN105101855A (en) 2013-04-15 2015-11-25 伊莱克斯公司 Robotic vacuum cleaner with protruding sidebrush
EP2986192B1 (en) 2013-04-15 2021-03-31 Aktiebolaget Electrolux Robotic vacuum cleaner
KR102274369B1 (en) * 2013-09-23 2021-07-07 삼성전자주식회사 Vacuum cleaner
CN103766231B (en) * 2013-11-22 2015-07-01 浙江科技学院 Pet exercise device and control method thereof
ES2675786T3 (en) 2013-12-19 2018-07-12 Aktiebolaget Electrolux Adaptive speed control of rotary side brush
US9946263B2 (en) 2013-12-19 2018-04-17 Aktiebolaget Electrolux Prioritizing cleaning areas
KR102099495B1 (en) 2013-12-19 2020-04-09 에이비 엘렉트로룩스 Sensing climb of obstacle of a robotic cleaning device
JP6638988B2 (en) 2013-12-19 2020-02-05 アクチエボラゲット エレクトロルックス Robot vacuum cleaner with side brush and moving in spiral pattern
JP6687286B2 (en) 2013-12-19 2020-04-22 アクチエボラゲット エレクトロルックス Robot cleaner and landmark recognition method
US10209080B2 (en) 2013-12-19 2019-02-19 Aktiebolaget Electrolux Robotic cleaning device
EP3084538B1 (en) 2013-12-19 2017-11-01 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
KR102116595B1 (en) 2013-12-20 2020-06-05 에이비 엘렉트로룩스 Dust container
JP6513709B2 (en) 2014-07-10 2019-05-15 アクチエボラゲット エレクトロルックス Method of detecting measurement error in robot type cleaning device, robot type cleaning device, computer program and computer program product
JP6443897B2 (en) 2014-09-08 2018-12-26 アクチエボラゲット エレクトロルックス Robot vacuum cleaner
US10729297B2 (en) 2014-09-08 2020-08-04 Aktiebolaget Electrolux Robotic vacuum cleaner
DE102014013633A1 (en) * 2014-09-19 2016-03-24 Nilfisk-Advance A/S adapter plate
WO2016077403A1 (en) * 2014-11-10 2016-05-19 Daylight Medical, Inc. Decontamination apparatus and method
US9889219B2 (en) 2014-11-10 2018-02-13 Diversey, Inc. Decontamination apparatus and method
CN104757911B (en) * 2014-11-26 2018-02-06 深圳市银星智能科技股份有限公司 The cleaning method and Intelligent robot for sweeping floor of Intelligent robot for sweeping floor
US9519289B2 (en) 2014-11-26 2016-12-13 Irobot Corporation Systems and methods for performing simultaneous localization and mapping using machine vision systems
US9744670B2 (en) 2014-11-26 2017-08-29 Irobot Corporation Systems and methods for use of optical odometry sensors in a mobile robot
US9751210B2 (en) 2014-11-26 2017-09-05 Irobot Corporation Systems and methods for performing occlusion detection
WO2016091291A1 (en) 2014-12-10 2016-06-16 Aktiebolaget Electrolux Using laser sensor for floor type detection
CN114668335A (en) 2014-12-12 2022-06-28 伊莱克斯公司 Side brush and robot dust catcher
KR102326401B1 (en) 2014-12-16 2021-11-16 에이비 엘렉트로룩스 Cleaning method for a robotic cleaning device
US10534367B2 (en) 2014-12-16 2020-01-14 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device
US9601007B2 (en) * 2015-01-29 2017-03-21 Floorbotics Inc. Self-propelled floor apparatus and system having a bactericidal function
JP6743828B2 (en) 2015-04-17 2020-08-19 アクチエボラゲット エレクトロルックス Robot vacuum and method for controlling the robot vacuum
CN104840156A (en) * 2015-04-20 2015-08-19 昆明理工大学 Domestic intelligent cleaning vehicle
US10874274B2 (en) 2015-09-03 2020-12-29 Aktiebolaget Electrolux System of robotic cleaning devices
KR101724481B1 (en) * 2015-11-13 2017-04-11 주식회사 파나시아 UV Sanitizing System
KR101717559B1 (en) * 2015-11-13 2017-03-21 주식회사 파나시아 Sterilizer using ultraviolet light
KR101724447B1 (en) * 2015-11-13 2017-04-11 주식회사 파나시아 UV Sanitizing Robotic Device
CN105476555A (en) * 2015-12-29 2016-04-13 深圳市鼎泰智能装备股份有限公司 Novel intelligent cleaning robot
TWI681748B (en) * 2016-01-28 2020-01-11 原相科技股份有限公司 Automatic clean machine control method and automatic clean machine
TWI680739B (en) * 2016-02-05 2020-01-01 金寶電子工業股份有限公司 Protection device of self-propelled vehicle
WO2017157421A1 (en) 2016-03-15 2017-09-21 Aktiebolaget Electrolux Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection
CN109068908B (en) 2016-05-11 2021-05-11 伊莱克斯公司 Robot cleaning device
CN105823305A (en) * 2016-05-25 2016-08-03 合肥海正环境监测有限责任公司 Portable cleaning dryer
CN106419740A (en) * 2016-12-30 2017-02-22 苏州曾智沃德智能科技有限公司 Cleaning and sterilizing robot
US10814358B2 (en) 2017-02-09 2020-10-27 Karcher North America, Inc. Floor cleaning device with disinfection capabilities
KR20180119016A (en) * 2017-04-24 2018-11-01 주식회사 광진산업 Vacuum cleaner with detachable ultraviolet sterilizion module
JP7243967B2 (en) 2017-06-02 2023-03-22 アクチエボラゲット エレクトロルックス Method for Detecting Level Differences on a Surface in Front of a Robotic Cleaning Device
KR20200058400A (en) 2017-09-26 2020-05-27 에이비 엘렉트로룩스 Control the movement of the robot cleaning device
WO2019106980A1 (en) * 2017-11-28 2019-06-06 パナソニックＩｐマネジメント株式会社 Self-propelled pathogen detection device, pathogen detection system, and control method
JP7020246B2 (en) * 2018-03-30 2022-02-16 村田機械株式会社 Bogie and bogie system
CN108452338A (en) * 2018-05-28 2018-08-28 广州市君望机器人自动化有限公司 Disinfection robot with Anti-bumping protection function and anticollision device, collision-prevention device
CN108853546A (en) * 2018-08-23 2018-11-23 上海钛米机器人科技有限公司 Autonomous chlorination equipment and its moving method
CN109432466B (en) * 2018-12-28 2024-04-02 珠海一微半导体股份有限公司 Portable intelligent disinfection robot, disinfection path control method and chip
US11416002B1 (en) * 2019-06-11 2022-08-16 Ambarella International Lp Robotic vacuum with mobile security function
KR102286132B1 (en) * 2019-07-31 2021-08-06 엘지전자 주식회사 Artificial intelligence robot cleaner
TWI722641B (en) * 2019-11-07 2021-03-21 福機裝股份有限公司 Automatic cleaning device
CN113290564A (en) * 2020-02-21 2021-08-24 西门子股份公司 Control method and control device of disinfection robot and disinfection robot
US11701442B2 (en) * 2020-03-31 2023-07-18 Uvd Robots Aps Method of autonomous mobile disinfection
DE102021109717A1 (en) 2020-04-19 2021-10-21 Metralabs Gmbh Neue Technologien Und Systeme System, device and method for disinfection
CN113663098A (en) * 2020-05-14 2021-11-19 恩斯迈电子(深圳)有限公司 Domain disinfection robot and control method
TWI732574B (en) * 2020-06-01 2021-07-01 國立中央大學 Three-dimensional environmental coverage oriented motion system and method
CN111888494A (en) * 2020-06-21 2020-11-06 珠海市一微半导体有限公司 Intelligent disinfection robot
CN111870726A (en) * 2020-08-10 2020-11-03 瑞轩自动化科技(扬州)有限公司 Hospital infectious area disinfection robot with liquid level low automatic alarm function
DE202020104873U1 (en) 2020-08-24 2021-11-29 seiwo Technik GmbH Mobile light disinfection unit
DE102020122005A1 (en) 2020-08-24 2022-02-24 seiwo Technik GmbH Mobile light disinfection unit
US11865218B2 (en) 2020-09-23 2024-01-09 The Board Of Trustees Of The University Of Illinois Targeted approach for ultraviolet disinfection of surfaces
KR20210030298A (en) * 2020-10-23 2021-03-17 (주)쓰리엠탑 3 mob robot cleaner
WO2022138575A1 (en) * 2020-12-25 2022-06-30 富士フイルム株式会社 Medical instrument
CN112656310B (en) * 2020-12-25 2022-04-22 北京小狗吸尘器集团股份有限公司 Floor sweeper based disinfection method and device, readable storage medium and electronic equipment
CN113805582A (en) * 2021-08-26 2021-12-17 杨晖 Cleaning and disinfecting robot and control method and control device thereof
WO2023037405A1 (en) * 2021-09-07 2023-03-16 日本電気株式会社 Irradiation position identification device, irradiation position communication system and method for controlling same, and non-transitory computer-readable medium
WO2023109512A1 (en) * 2021-12-15 2023-06-22 威刚科技股份有限公司 Disinfection device
CN114847812B (en) * 2022-07-04 2022-09-13 深圳博鹏智能科技有限公司 Automatic control method, device and equipment for disinfection floor cleaning robot and storage medium

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2590152A (en) * 1945-01-16 1952-03-25 John T Kilbride Vacuum cleaner with sterilizing means
US2632912A (en) * 1948-10-29 1953-03-31 Hoover Co Illuminating means for tank type suction cleaners
US2681467A (en) * 1948-12-04 1954-06-22 Guyer Reynolds Vacuum cleaner with floor sterilizing means
DE3803825A1 (en) 1988-02-09 1989-08-17 Gerhard Kurz DEVICE FOR BACTERIZING ROOMS AND FLOORING
JP2938459B2 (en) 1988-08-31 1999-08-23 株式会社東芝 Display control device
JPH0263772U (en) * 1988-10-31 1990-05-14
DE4222805A1 (en) 1991-11-21 1994-02-17 Hubert K Block Vacuum cleaner with disinfecting unit - has clip-on battery unit on suction head providing UV or IR radiation, with transmission via optical fibres
JPH0655544A (en) 1992-08-11 1994-03-01 Apic Yamada Kk Molding equipment
US5548511A (en) * 1992-10-29 1996-08-20 White Consolidated Industries, Inc. Method for controlling self-running cleaning apparatus
CN2139811Y (en) 1992-11-10 1993-08-11 洪永丰 Ultraviolet disinfect dust collector
US5233723A (en) * 1992-11-12 1993-08-10 Hung Yung Feng Sterilizing vacuum cleaner
JPH0655544U (en) * 1992-12-08 1994-08-02 永豊 洪 Vacuum cleaner with UV sterilization function
GB2277251A (en) 1993-04-19 1994-10-26 Hung Yung Feng Vacuum cleaner with ultra-violet sterilizing bulb
JPH08335112A (en) 1995-06-08 1996-12-17 Minolta Co Ltd Mobile working robot system
JPH0947413A (en) 1995-08-08 1997-02-18 Minolta Co Ltd Cleaning robot
KR100232536B1 (en) * 1997-12-31 2000-01-15 배길성 Mounting structure of ultraviolet lamp in body of vacuum cleaner
CN2389761Y (en) 1999-09-15 2000-08-02 叶明� Full-automatic cleaning manipulator
JP2003515210A (en) 1999-11-18 2003-04-22 ザ プロクター アンド ギャンブル カンパニー Household cleaning robot
US6481515B1 (en) 2000-05-30 2002-11-19 The Procter & Gamble Company Autonomous mobile surface treating apparatus
JP2002177175A (en) * 2000-12-14 2002-06-25 Rikooru Kk Sucking port for bactericidal and deodorizing vacuum cleaner
ITFI20010021A1 (en) 2001-02-07 2002-08-07 Zucchetti Ct Sistemi S P A AUTOMATIC VACUUM CLEANING APPARATUS FOR FLOORS
RU2220643C2 (en) * 2001-04-18 2004-01-10 Самсунг Гванджу Электроникс Ко., Лтд. Automatic cleaning apparatus, automatic cleaning system and method for controlling of system (versions)
US6667592B2 (en) 2001-08-13 2003-12-23 Intellibot, L.L.C. Mapped robot system
US20040236468A1 (en) * 2003-03-14 2004-11-25 Taylor Charles E. Robot vacuum with remote control mode
WO2005011755A2 (en) * 2003-07-30 2005-02-10 Tennant Company Ultraviolet sanitation device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100585040B1 (en) 2003-07-29 2006-06-01 삼성광주전자 주식회사 An robot cleaner having a negative-ion generator
KR100695172B1 (en) * 2006-03-09 2007-03-14 삼성전자주식회사 Robot cleaner providing microbe sensing function
KR20200048184A (en) * 2018-10-29 2020-05-08 이영화 Portable sterilization robot
KR102274221B1 (en) * 2018-10-29 2021-07-07 이영화 Portable sterilization robot
KR20220115129A (en) * 2021-02-09 2022-08-17 한국과학기술연구원 Disinfection robot capable of autonomous driving and automatic recognition of disinfection targets
KR102482264B1 (en) * 2021-02-09 2022-12-29 한국과학기술연구원 Disinfection robot capable of autonomous driving and automatic recognition of disinfection targets

Also Published As

Publication number Publication date
CN1575742A (en) 2005-02-09
KR20050013866A (en) 2005-02-05
US20050022330A1 (en) 2005-02-03
DE102004021115A1 (en) 2005-02-24
SE0401937L (en) 2005-01-30
US7251853B2 (en) 2007-08-07
CN1291691C (en) 2006-12-27
SE0401937D0 (en) 2004-07-28
FR2858203A1 (en) 2005-02-04
RU2272557C2 (en) 2006-03-27
GB0409424D0 (en) 2004-06-02
RU2004116815A (en) 2006-01-10
JP2005046592A (en) 2005-02-24
SE527034C2 (en) 2005-12-13
GB2404330B (en) 2005-07-06
NL1026023C2 (en) 2005-02-07
GB2404330A (en) 2005-02-02
AU2004201756A1 (en) 2005-02-17

Similar Documents

Publication Publication Date Title
KR100478681B1 (en) an robot-cleaner equipped with floor-disinfecting function
KR100533829B1 (en) an air-cleaning robot and system thereof
KR100654676B1 (en) Mobile robot having body sensor
JP4522426B2 (en) Robot vacuum cleaner system
US6901624B2 (en) Self-moving cleaner
KR20050012049A (en) Robot cleaner and system thereof
KR100633446B1 (en) Mobile robot having humidifier
JP4268911B2 (en) Self-propelled vacuum cleaner
GB2394795B (en) Robot cleaner, robot cleaning system and method for controlling the same
JP2006087507A (en) Self-propelled cleaner
KR100548894B1 (en) an robot-cleaner equipped with perfume-sprinkling function
JP2007286730A (en) Self-propelled type cleaner
KR100504861B1 (en) Supersnic senser handling method of moving robot
KR101479238B1 (en) Robot cleaner and control method of the same of
KR20050099189A (en) Method for controlling robot cleaning machine
KR100480143B1 (en) Robot cleaner traveling limit apparatus and method

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20130227

Year of fee payment: 9

FPAY Annual fee payment

Payment date: 20140227

Year of fee payment: 10

FPAY Annual fee payment

Payment date: 20150226

Year of fee payment: 11

LAPS Lapse due to unpaid annual fee